Commit 52ffcfef authored by G.A. vd. Hoorn's avatar G.A. vd. Hoorn Committed by Felix Exner
Browse files

config: use yaml anchor to reduce magic nrs. (#89)

Users can still customise the publish_rate by removing the alias and specifying a custom rate.

By default all controllers will publish at the controller's native rate.
parent c9b25b5a
# Settings for ros_control control loop
hardware_control_loop:
loop_hz: 125
loop_hz: &loop_hz 125
# Settings for ros_control hardware interface
hardware_interface:
......@@ -15,17 +15,17 @@ hardware_interface:
# Publish all joint states ----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 125
publish_rate: *loop_hz
# Publish wrench ----------------------------------
force_torque_sensor_controller:
type: force_torque_sensor_controller/ForceTorqueSensorController
publish_rate: 125
publish_rate: *loop_hz
# Publish speed_scaling factor
speed_scaling_state_controller:
type: ur_controllers/SpeedScalingStateController
publish_rate: 125
publish_rate: *loop_hz
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
......@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 125
state_publish_rate: *loop_hz
action_monitor_rate: 10
pos_traj_controller:
......@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 125
state_publish_rate: *loop_hz
action_monitor_rate: 10
# Settings for ros_control control loop
hardware_control_loop:
loop_hz: 500
loop_hz: &loop_hz 500
# Settings for ros_control hardware interface
hardware_interface:
......@@ -15,17 +15,17 @@ hardware_interface:
# Publish all joint states ----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 500
publish_rate: *loop_hz
# Publish wrench ----------------------------------
force_torque_sensor_controller:
type: force_torque_sensor_controller/ForceTorqueSensorController
publish_rate: 500
publish_rate: *loop_hz
# Publish speed_scaling factor
speed_scaling_state_controller:
type: ur_controllers/SpeedScalingStateController
publish_rate: 500
publish_rate: *loop_hz
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
......@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 500
state_publish_rate: *loop_hz
action_monitor_rate: 10
pos_traj_controller:
......@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 500
state_publish_rate: *loop_hz
action_monitor_rate: 10
# Settings for ros_control control loop
hardware_control_loop:
loop_hz: 125
loop_hz: &loop_hz 125
# Settings for ros_control hardware interface
hardware_interface:
......@@ -15,17 +15,17 @@ hardware_interface:
# Publish all joint states ----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 125
publish_rate: *loop_hz
# Publish wrench ----------------------------------
force_torque_sensor_controller:
type: force_torque_sensor_controller/ForceTorqueSensorController
publish_rate: 125
publish_rate: *loop_hz
# Publish speed_scaling factor
speed_scaling_state_controller:
type: ur_controllers/SpeedScalingStateController
publish_rate: 125
publish_rate: *loop_hz
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
......@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 125
state_publish_rate: *loop_hz
action_monitor_rate: 10
pos_traj_controller:
......@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 125
state_publish_rate: *loop_hz
action_monitor_rate: 10
# Settings for ros_control control loop
hardware_control_loop:
loop_hz: 500
loop_hz: &loop_hz 500
# Settings for ros_control hardware interface
hardware_interface:
......@@ -15,17 +15,17 @@ hardware_interface:
# Publish all joint states ----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 500
publish_rate: *loop_hz
# Publish wrench ----------------------------------
force_torque_sensor_controller:
type: force_torque_sensor_controller/ForceTorqueSensorController
publish_rate: 500
publish_rate: *loop_hz
# Publish speed_scaling factor
speed_scaling_state_controller:
type: ur_controllers/SpeedScalingStateController
publish_rate: 500
publish_rate: *loop_hz
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
......@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 500
state_publish_rate: *loop_hz
action_monitor_rate: 10
pos_traj_controller:
......@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 500
state_publish_rate: *loop_hz
action_monitor_rate: 10
# Settings for ros_control control loop
hardware_control_loop:
loop_hz: 125
loop_hz: &loop_hz 125
# Settings for ros_control hardware interface
hardware_interface:
......@@ -15,17 +15,17 @@ hardware_interface:
# Publish all joint states ----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 125
publish_rate: *loop_hz
# Publish wrench ----------------------------------
force_torque_sensor_controller:
type: force_torque_sensor_controller/ForceTorqueSensorController
publish_rate: 125
publish_rate: *loop_hz
# Publish speed_scaling factor
speed_scaling_state_controller:
type: ur_controllers/SpeedScalingStateController
publish_rate: 125
publish_rate: *loop_hz
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
......@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 125
state_publish_rate: *loop_hz
action_monitor_rate: 10
pos_traj_controller:
......@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 125
state_publish_rate: *loop_hz
action_monitor_rate: 10
# Settings for ros_control control loop
hardware_control_loop:
loop_hz: 500
loop_hz: &loop_hz 500
# Settings for ros_control hardware interface
hardware_interface:
......@@ -15,17 +15,17 @@ hardware_interface:
# Publish all joint states ----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 500
publish_rate: *loop_hz
# Publish wrench ----------------------------------
force_torque_sensor_controller:
type: force_torque_sensor_controller/ForceTorqueSensorController
publish_rate: 500
publish_rate: *loop_hz
# Publish speed_scaling factor
speed_scaling_state_controller:
type: ur_controllers/SpeedScalingStateController
publish_rate: 500
publish_rate: *loop_hz
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
......@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 500
state_publish_rate: *loop_hz
action_monitor_rate: 10
pos_traj_controller:
......@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 500
state_publish_rate: *loop_hz
action_monitor_rate: 10
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